Methods, systems, and computer programs are presented for object recognition performed by electronic devices. One method includes an operation for capturing three-dimensional (3D) images of a region over a surface using 3D cameras, the surface having a pattern and each 3D camera defining a respective camera coordinate system. For each camera, the 3D image is analyzed to identify a location of the pattern indicating an origin of a common coordinate system, and a coordinate transformation function is defined to convert data to the common coordinate system. Each 3D camera captures a 3D object image of an object on the surface that includes 3D object data. Further, the 3D object data is transformed to the common coordinate system to obtain transformed 3D object data. The 3D object data is combined to obtain a composite 3D object data, and object recognition of the object is performed based on the composite 3D object data.